A list of utilities that may be useful for debugging.
A face normal consists of a normal vector for a face and a reference point on the face.
These are both expressed within the local body coordinate system.
Get the face normals of the body.
A unique edge consists of a unit direction vector that runs parallel to an edge of a face.
A vertex point of the body is also provided for context.
These are both expressed within the local body coordinate system.
Get the unique edges of the body.
Get the contact points in the world.